test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
can/can.cpp@50:36741e8ab197, 2019-03-11 (annotated)
- Committer:
- shimizuta
- Date:
- Mon Mar 11 10:38:07 2019 +0000
- Revision:
- 50:36741e8ab197
- Parent:
- 16:0069a56f11a3
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimizuta | 14:d7cb429946f4 | 1 | #include "can.h" |
shimizuta | 14:d7cb429946f4 | 2 | #include "mbed.h" |
shimizuta | 16:0069a56f11a3 | 3 | #include "nhk19mr2_can_info.h" |
shimizuta | 15:3fd1d5698d10 | 4 | #include "pinnames.h" |
shimizuta | 15:3fd1d5698d10 | 5 | #include "splitData.h" |
shimizuta | 16:0069a56f11a3 | 6 | CAN can(pin_can_rd, pin_can_td); |
shimizuta | 14:d7cb429946f4 | 7 | |
shimizuta | 14:d7cb429946f4 | 8 | void MakeCanRad(OneLeg leg0, OneLeg leg1, char *candata); |
shimizuta | 16:0069a56f11a3 | 9 | void SendRad(OneLeg leg0, OneLeg leg1) |
shimizuta | 14:d7cb429946f4 | 10 | { |
shimizuta | 16:0069a56f11a3 | 11 | char candata[kByteEachRad * 4] = {}; |
shimizuta | 14:d7cb429946f4 | 12 | MakeCanRad(leg0, leg1, candata); |
shimizuta | 14:d7cb429946f4 | 13 | CANMessage msg(CANID_SERVO_RAD, candata, kByteCanSevoRad); |
shimizuta | 14:d7cb429946f4 | 14 | can.write(msg); |
shimizuta | 14:d7cb429946f4 | 15 | } |
shimizuta | 14:d7cb429946f4 | 16 | void MakeCanRad(OneLeg leg0, OneLeg leg1, char *candata) |
shimizuta | 14:d7cb429946f4 | 17 | { |
shimizuta | 16:0069a56f11a3 | 18 | float rad[4] = { |
shimizuta | 16:0069a56f11a3 | 19 | leg0.GetRad(0), |
shimizuta | 16:0069a56f11a3 | 20 | leg0.GetRad(1), |
shimizuta | 16:0069a56f11a3 | 21 | leg1.GetRad(0), |
shimizuta | 16:0069a56f11a3 | 22 | leg1.GetRad(1), |
shimizuta | 16:0069a56f11a3 | 23 | }; |
shimizuta | 14:d7cb429946f4 | 24 | int rad_multi[4]; |
shimizuta | 16:0069a56f11a3 | 25 | for (int i = 0; i < 4; i++) |
shimizuta | 16:0069a56f11a3 | 26 | { |
shimizuta | 14:d7cb429946f4 | 27 | rad_multi[i] = rad[i] * kRadToData; |
shimizuta | 16:0069a56f11a3 | 28 | Intobyte(rad_multi[i], kByteEachRad, candata, i * kByteEachRad); |
shimizuta | 14:d7cb429946f4 | 29 | } |
shimizuta | 14:d7cb429946f4 | 30 | } |